Method and system for creating a final graded soil surface having a final soil depth

ABSTRACT

In one aspect, a method for creating a final graded soil surface may include controlling an operation of a grading implement of a work vehicle such that the grading implement removes a layer of soil from a current soil surface as the work vehicle is moved in a forward direction. The method may also include receiving an input indicative of the current soil surface being at an offset soil depth relative to the initial ungraded soil surface, with the offset soil depth differing from the final soil depth. When the current soil surface is at the offset soil depth, the method may further include adjusting a position of the grading implement to add or remove soil based on a depth differential defined between the offset soil depth and the final soil depth to create the final graded soil surface as the work vehicle is moved in the reverse direction.

FIELD

The present disclosure generally relates to work vehicles and, moreparticularly, to methods and systems for using work vehicles to create afinal graded soil surface having a final soil depth relative an initialungraded soil surface by adding or removing soil to a current soilsurface when the current soil surface is at an offset soil depth thatdiffers from the final soil depth.

BACKGROUND

It is well known that, in the construction of many buildings, bridges,roads, and/or the like, that the topography of the soil must bemanipulated, typically through the use a grading operation. Gradingoperations are generally performed by a work vehicle, such as a crawlerdozer, that includes a grading implement, such as a blade, configured toremove a layer of soil from a current soil surface. The work vehicletypically includes a pair of tracks for use in traversing the currentsoil surface.

The grading implement is generally located at a forward end of the workvehicle so as to push a layer of soil in front of the work vehicle asthe work vehicle is moved in a forward direction. However, consideringthe large size and weight of many work vehicles configured to performgrading operations, the tracks of such work vehicles may leave groovesor other indentions in the final graded surface. As such, it isnecessary to use smaller, lighter work vehicles to remove the grooves orindentions, which increases the time and cost of the constructionproject.

Accordingly, an improved method and system for creating a final gradedsoil surface having a final soil depth relative an initial ungraded soilsurface would be welcomed in the technology.

BRIEF DESCRIPTION

Aspects and advantages of the technology will be set forth in part inthe following description, or may be obvious from the description, ormay be learned through practice of the technology.

In one aspect, the present subject matter is directed to a method forcreating a final graded soil surface having a final soil depth relativeto an initial ungraded soil surface. The method may include controlling,with a computing device, an operation of a grading implement of a workvehicle such that the grading implement removes a layer of soil from acurrent soil surface as the work vehicle is moved in a forwarddirection. The work vehicle may extend longitudinally between a forwardend and an aft end. The grading implement may be located at the forwardend of the work vehicle. The grading implement may traverse the currentsoil surface prior to the aft end of the work vehicle when work vehicleis moved in the forward direction. The aft end of the work vehicle maytraverse the current soil surface prior to the grading implement whenwork vehicle is moved in a reverse direction. The method may alsoinclude receiving, with the computing device, an input indicative of thecurrent soil surface being at an offset soil depth relative to theinitial ungraded soil surface, with the offset soil depth differing fromthe final soil depth. When the current soil surface is at the offsetsoil depth, the method may further include adjusting, with the computingdevice, a position of the grading implement so as to add or remove soilbased on a depth differential defined between the offset soil depth andthe final soil depth to create the final graded soil surface as the workvehicle is moved in the reverse direction.

In another aspect, the present subject matter is directed to a systemfor creating a final graded soil surface having a final soil depthrelative to an initial ungraded soil surface. The system may include awork vehicle extending longitudinally between a forward end and an aftend. The work vehicle may include a grading implement positioned at theforward end of the work vehicle. The work vehicle may be configured tobe moved in both a forward direction and a reverse direction. Thegrading implement may traverse a current soil surface prior to the aftend of the work vehicle when the work vehicle moves in the forwarddirection. The aft end of the work vehicle may traverse the current soilsurface prior to the grading implement when the work vehicle moves inthe reverse direction. The system may also include a controllercommunicatively coupled to the work vehicle. The controller may beconfigured to position the grading implement at an offset soil depthrelative to the initial ungraded soil surface such that the current soilsurface is graded to the offset soil depth as the work vehicle is movedin the forward direction across the soil surface, with the offset soildepth differing from the final soil depth. When the current soil surfaceis at the offset soil depth, the controller may be configured to adjustthe position of the grading implement so as to add or remove soil basedon a depth differential defined between the offset soil depth and thefinal soil depth to create the final graded soil surface as the workvehicle is moved in the reverse direction across the soil surface.

These and other features, aspects and advantages of the presenttechnology will become better understood with reference to the followingdescription and appended claims. The accompanying drawings, which areincorporated in and constitute a part of this specification, illustrateembodiments of the technology and, together with the description, serveto explain the principles of the technology.

BRIEF DESCRIPTION OF THE DRAWINGS

A full and enabling disclosure of the present technology, including thebest mode thereof, directed to one of ordinary skill in the art, is setforth in the specification, which makes reference to the appendedfigures, in which:

FIG. 1 illustrates a perspective view of one embodiment of a workvehicle in accordance with aspects of the present subject matter;

FIG. 2 illustrates a schematic view of one embodiment of a system forcreating a final graded soil surface having a final soil depth relativeto an initial ungraded soil surface in accordance with aspects of thepresent subject matter, particularly illustrating the system including asensor for detecting a parameter associated with a current soil depth ofa current soil surface;

FIG. 3 illustrates a schematic view of a further embodiment of a systemfor creating a final graded soil surface having a final soil depthrelative to an initial ungraded soil surface in accordance with aspectsof the present subject matter, particularly illustrating the systemincluding a user interface for receiving a notification when a currentsoil surface is at an offset soil depth relative to the initial ungradedsoil surface;

FIG. 4 illustrates a graphical view of an example soil topography mapcharting a geographical distribution of a current soil depth of acurrent soil surface, an offset soil depth of an offset soil surface,and a final soil depth of a final graded surface relative to an initialungraded soil surface in accordance with aspects of the present subjectmatter;

FIG. 5 illustrates a schematic view of the embodiment of the systemshown in FIG. 2, particularly illustrating the system being configuredto control a grading implement to remove soil to create the final gradedsoil surface when an offset soil depth is less than the final soildepth;

FIG. 6 illustrates a schematic view of the embodiment of the systemshown in FIG. 2, particularly illustrating the system being configuredto control a grading implement to add soil to create the final gradedsoil surface when an offset soil depth is greater than the final soildepth; and

FIG. 7 illustrates a flow diagram of one embodiment of a method forcreating a final graded soil surface having a final soil depth relativeto an initial ungraded soil surface in accordance with aspects of thepresent subject matter.

Repeat use of reference characters in the present specification anddrawings is intended to represent the same or analogous features orelements of the present technology.

DETAILED DESCRIPTION

Reference now will be made in detail to embodiments of the invention,one or more examples of which are illustrated in the drawings. Eachexample is provided by way of explanation of the invention, notlimitation of the invention. In fact, it will be apparent to thoseskilled in the art that various modifications and variations can be madein the present invention without departing from the scope or spirit ofthe invention. For instance, features illustrated or described as partof one embodiment can be used with another embodiment to yield a stillfurther embodiment. Thus, it is intended that the present inventioncovers such modifications and variations as come within the scope of theappended claims and their equivalents.

In general, the present subject matter is directed to methods andsystems for creating a final graded soil surface having a final soildepth relative to an initial ungraded soil surface. Specifically, inseveral embodiments, a controller may be configured to control anoperation of a grading implement of a work vehicle such that the gradingimplement removes a layer of soil from a current soil surface as thework vehicle is moved in a forward direction. The controller may also beconfigured to receive an input indicative of the current soil surfacebeing at an offset soil depth relative to the initial ungraded soilsurface that differs from the desired final soil depth, such as an inputfrom a sensor or an operator of the work vehicle. When the current soilsurface is at the offset soil depth, the controller may be configured toadjust a position of the grading implement so as to add or remove soilbased on a depth differential defined between the offset soil depth andthe desired final soil depth to create the final graded soil surface asthe work vehicle is moved in a reverse direction. For example, in oneembodiment, when the offset depth is greater than the final soil depth,the controller may be configured to control a depth and/or angle of thegrading implement so as to add soil to create the final graded soilsurface as the work vehicle is moved back across the previously gradedsurface in the reverse direction. Similarly, when the offset depth isless than the final soil depth, the controller may be configured tocontrol a depth and/or angle of the grading implement so as to removesoil to create the final graded soil surface as the work vehicle ismoved back across the previously graded surface in the reversedirection. Creating the final grade soil surface by adding or removingsoil while the work vehicle is moved in the reverse direction mayprevent the formation of any grooves or indentions in the final gradesoil surface by tracks or wheels of the work vehicle.

Referring now to the drawings, FIG. 1 illustrates a perspective view ofone embodiment of a work vehicle 10. As shown, the work vehicle 10 isconfigured as a crawler dozer. In general, the work vehicle 10 extendslongitudinally (e.g., as indicated by arrow 12 in FIG. 1) between aforward end 14 of the work vehicle 10 and an aft end 16 of the workvehicle 10. In addition, the work vehicle 10 also extends laterally(e.g., as indicated by arrow 18 in FIG. 1) between a first side 20 ofthe work vehicle 10 and a second side 22 of the work vehicle 10.However, in other embodiments, the work vehicle 10 may be configured asany other suitable work vehicle known in the art, including those foragricultural and construction applications, transport, sport, and/or thelike.

As shown in FIG. 1, the work vehicle 10 may include a chassis 24 that isconfigured to support or couple to a plurality of components. Forexample, in one embodiment, the chassis 24 may be configured to supporta grading implement 26 at the forward end 14 of the work vehicle 10 andan enclosed operator's cab 28 at the aft end 16 of the work vehicle 10.Additionally, a first track assembly 30 may be coupled to the chassis 24on the first side 20 of the work vehicle 10, and a second track assembly32 may be coupled to the chassis 24 on the second side 22 of the workvehicle 10. However, it should be appreciated that the chassis 24 may beconfigured to support or couple to any suitable work vehicle componentor configuration of vehicle components.

In accordance with aspects of the present disclosure, the gradingimplement 26 may be configured to remove a layer of soil from a currentsoil surface or otherwise move a volume of soil relative to the currentsoil surface. As shown, the grading implement 26 may be configured as ablade. In several embodiments, the grading implement 26 may beconfigured to be adjustably mounted to the chassis 24 so as to controlthe layer of soil removed from the current soil surface by the gradingimplement 26. For example, as shown, in one embodiment, the gradingimplement 26 may be adjustably coupled to the chassis 24 by a pair ofpivot arms 34, 36. In this regard, the work vehicle 10 may include oneor more actuators 38, which are configured to adjust a depth of thegrading implement 26 by moving the arms 34, 36 relative to the chassis24. In addition, the work vehicle 10 may include one or more actuators40, which are configured to adjust the angle of the grading implement 26by moving the grading implement 26 relative to the pivot arms 34, 36. Itshould be appreciated that, in other embodiments, the grading implement26 may be configured as any suitable type of grading implement, such asa bucket. Furthermore, the grading implement 26 may be coupled to thechassis 24 in any suitable manner.

In several embodiments, the track assemblies 30, 32 of the work vehicle10 may be configured to move the work vehicle 10 relative to the currentsoil surface. For example, the track assemblies 30, 32 may be configuredto move the work vehicle 10 in a forward direction (e.g., as indicatedby arrow 42 in FIG. 1) where the grading implement 26 traverses thecurrent soil surface prior to the aft end 16 of the work vehicle 10.Similarly, the track assemblies 30, 32 may be configured to move thework vehicle 10 in a reverse direction (e.g., as indicated by arrow 44in FIG. 1) where aft end 16 of the work vehicle 10 traverses the currentsoil surface prior to the grading implement 26. It should be appreciatedthat, in some embodiments, the work vehicle 10 may be moved bywheel/tire assemblies (not shown) in addition to or in lieu of the trackassemblies 30, 32.

It should be appreciated that the configuration of the work vehicle 10described above and shown in FIG. 1 is provided only to place thepresent subject matter in an exemplary field of use. Thus, it should beapparent that the present subject matter may be readily adaptable to anymanner of work vehicle configuration. For example, in an alternativeembodiment, the work vehicle 10 may include an open operator's cab 18.

Referring now to FIG. 2, a schematic view of one embodiment of a system100 for creating a final graded soil surface having a final soil depthrelative to an initial ungraded soil surface is illustrated inaccordance with aspects of the present subject matter. In general, thesystem 100 will be described herein with reference to the work vehicle10 described above with reference to FIG. 1. However, it should beappreciated by those of ordinary skill in the art that the disclosedsystem 100 may generally be utilized with work vehicles having any othersuitable work vehicle configuration.

As shown in FIG. 2, the system 100 may include one or more components ofthe work vehicle 10. For example, the system 100 may include the pivotarms 34, 36, which, as indicated above, may be configured to bepivotable or otherwise moveable relative to the chassis 24 of the workvehicle 10 to permit the actuator(s) 38 to adjust the position of thearms 34, 36 relative to the chassis 24 and the actuator(s) 38. Forexample, in one embodiment, one end of each actuator 38 may be pivotablycoupled to the chassis 24 at a pivot joint 46. Similarly, an opposed endof each actuator 38 may also be coupled to the associated pivot arm 34,36 at a pivot joint 48. Each pivot arm 34, 36, which may support thegrading implement 26, may, in turn, be coupled to the chassis 24 at apivot joint 50. As such, the pivot joints 46, 48, 50 may allow relativepivotable movement between the chassis 24, the pivot arms 34, 36, andthe actuator(s) 38, thereby allowing the position of the pivot arms 34,36 relative to the chassis 24 to be adjusted. However, a person ofordinary skill in the art would appreciate that the pivot arms 34, 36may be adjustably coupled to the chassis 24 in any suitable manner thatpermits the actuator(s) 38 to move the arms 34, 36 relative to thechassis 24.

As shown, each actuator 38 may, for example, correspond to afluid-driven actuator, such as a hydraulic actuator or a pneumaticactuator. Thus, in several embodiments, each actuator 38 may include acylinder 52 configured to house a piston 54 and a rod 56 coupled to thepiston 54 that extends outwardly from the cylinder 52. Additionally,each actuator 38 may include a cap-side chamber 58 and a rod-sidechamber 60 defined within the cylinder 52. As is generally understood,by regulating the pressure of the fluid supplied to one or both of thecylinder chambers 58, 60, the actuation of the rod 56 may be controlled.As shown in FIG. 2, in the illustrated embodiment, the end of the rod 56is coupled to the associated pivot arm 34, 36 at the pivot joint 48while the cylinder 52 is coupled to the chassis 24 at the opposed pivotjoint 46. However, in an alternative embodiment, the end of the rod 56may be coupled to the chassis 24 at the pivot joint 46 while thecylinder 52 may be coupled to the associated pivot arm 34, 36 at thepivot joint 48. It should be appreciated that the actuator 38 may be anysuitable type of actuator.

In several embodiments, the system 100 may also include a suitablepressure regulating valve 102 (PRV) (e.g., a solenoid-activated valve ora manually operated valve) configured to regulate a supply of fluid(e.g., hydraulic fluid or air from a suitable fluid source or tank 104)being supplied to each actuator 38. As shown in FIG. 2, in oneembodiment, the PRV 102 may be in fluid communication with the rod-sidechamber 60 of the associated actuator 38. In this respect, the system100 may include a fluid conduit 106, such as the illustrated hose, thatfluidly couples the PRV 102 to a fitting 108 on the associated cylinder52. As such, the PRV 102 may regulate the supply fluid to the associatedrod-side chamber 60. It should be appreciated that, in alternateembodiments, the PRV 102 may be in fluid communication with theassociated piston-side chamber 58 to regulate the supply fluid thereto.Alternatively, the system 100 may include a pair of PRVs 102 associatedwith each actuator 38, with each PRV 102 being in fluid communicationwith one of the chambers 58, 60 of the associated actuator 38.

The system 100 may also include the vehicle's grading implement 26,which may be configured to be pivotable or otherwise moveable relativeto the pivot arms 34, 36 of the work vehicle 10 to permit theactuator(s) 40 to adjust the position of the grading implement 26relative to the arms 34, 36. For example, in one embodiment, one end ofeach actuator 40 may be pivotably coupled to the associated pivot arm34, 36 at a pivot joint 62. Similarly, an opposed end of each actuator40 may be coupled to the grading implement 26 at a pivot joint 64. Thegrading implement 26 may, in turn, be coupled to the associated pivotarm 34, 36 at a pivot joint 66. As such, the pivot joints 62, 64, 66 mayallow relative pivotable movement between the grading implement 26, thepivot arms 34, 36, and the actuator(s) 40, thereby allowing the positionof the grading implement 26 relative to the arms 34, 36 to be adjusted.However, a person of ordinary skill in the art would appreciate that thegrading implement 26 may be adjustably coupled to the arms 34, 36 in anysuitable manner that permits the actuator(s) 40 to move the gradingimplement 26 relative to the arms 34, 36.

As shown, each actuator 40 may, for example, correspond to afluid-driven actuator, such as a hydraulic actuator or a pneumaticactuator. Thus, in several embodiments, each actuator 40 may include acylinder 68 configured to house a piston 70 and a rod 72 coupled to thepiston 70 that extends outwardly from the cylinder 68. Additionally,each actuator 40 may include a cap-side chamber 74 and a rod-sidechamber 76 defined within the cylinder 68. As is generally understood,by regulating the pressure of the fluid supplied to one or both of thecylinder chambers 74, 76, the actuation of the rod 72 may be controlled.As shown in FIG. 2, in the illustrated embodiment, the end of the rod 72is coupled to the grading implement 26 at the pivot joint 64 while thecylinder 68 is coupled to the associated arm 34, 36 at the opposed pivotjoint 62. However, in an alternative embodiment, the end of the rod 72may be coupled to the associated arm 34, 36 at the pivot joint 62 whilethe cylinder 68 may be coupled to the grading implement 26 at the pivotjoint 64. It should be appreciated that the actuator(s) 40 may be anysuitable type of actuator.

In several embodiments, the system 100 may also include a suitablepressure regulating valve 110 (PRV) (e.g., a solenoid-activated valve ora manually operated valve) configured to regulate a supply of fluid(e.g., hydraulic fluid or air from the fluid source or tank 104) beingsupplied to each actuator 40. As shown in FIG. 2, in one embodiment, thePRV 110 may be in fluid communication with the rod-side chamber 76 ofthe associated actuator 40. In this respect, the system 100 may includea fluid conduit 112, such as the illustrated hose, that fluidly couplesthe PRV 110 to a fitting 114 on the associated cylinder 68. As such, thePRV 110 may regulate the supply fluid to the associated rod-side chamber76. It should be appreciated that, in alternate embodiments, the PRV 110may be in fluid communication with the associated piston-side chamber 74to regulate the supply fluid thereto. Alternatively, the system 100 mayinclude a pair of PRVs 110 associated with each actuator 40, with eachPRV 110 being in fluid communication with one of the chambers 74, 76 ofthe associated actuator 40.

In accordance with aspects of the present disclosure, the system 100 mayalso include a sensor 116 configured to detect a parameter indicative ofa current soil depth 118 of a current soil surface 120 relative to aninitial ungraded soil surface 122. As used herein, the initial ungradedsoil surface 122 refers to the soil surface before grading operationshave been performed thereon, such as grading operations in accordancewith method 200 described below with reference to FIG. 7. In general,the sensor 116 may correspond to any suitable sensor(s) or sensingdevice(s) that is configured to directly or indirectly detect thecurrent soil depth 118. For example, as shown in FIG. 2, the sensor 116may be provided in operative association with the grading implement 26.In such embodiments, the sensor 116 may correspond to a LIDAR sensorcoupled to the grading implement 26. In this regard, the sensor 102 maybe configured to detect a vertical position differential between thegrading implement 26 and a fixed point elevation, which may beindicative of the current soil depth 118. However, it should beappreciated that the sensor 116 may correspond to any other suitablesensor(s) or sensing device(s) configured to detect the current soildepth.

As shown in FIG. 2, the system 100 may further include a controller 124configured to electronically control the operation of one or morecomponents of the work vehicle 10. In general, the controller 124 maycomprise any suitable processor-based device known in the art, such as acomputing device or any suitable combination of computing devices. Thus,in several embodiments, the controller 124 may include one or moreprocessor(s) 126 and associated memory device(s) 128 configured toperform a variety of computer-implemented functions. As used herein, theterm “processor” refers not only to integrated circuits referred to inthe art as being included in a computer, but also refers to acontroller, a microcontroller, a microcomputer, a programmable logiccontroller (PLC), an application specific integrated circuit, and otherprogrammable circuits. Additionally, the memory device(s) 128 of thecontroller 124 may generally comprise memory element(s) including, butnot limited to, a computer readable medium (e.g., random access memory(RAM)), a computer readable non-volatile medium (e.g., a flash memory),a floppy disk, a compact disc-read only memory (CD-ROM), amagneto-optical disk (MOD), a digital versatile disc (DVD) and/or othersuitable memory elements. Such memory device(s) 128 may generally beconfigured to store suitable computer-readable instructions that, whenimplemented by the processor(s) 126, configure the controller 124 toperform various computer-implemented functions, such as one or moreaspects of the methods 200 described below with reference to FIG. 7. Inaddition, the controller 124 may also include various other suitablecomponents, such as a communications circuit or module, one or moreinput/output channels, a data/control bus and/or the like.

It should be appreciated that the controller 124 may correspond to anexisting controller of the work vehicle 10 or the controller 124 maycorrespond to a separate processing device. For instance, in oneembodiment, the controller 124 may form all or part of a separateplug-in module that may be installed within the work vehicle 10 to allowfor the disclosed system and method to be implemented without requiringadditional software to be uploaded onto existing control devices of thework vehicle 10.

Referring now to FIG. 3, some embodiments of the system 100 may notinclude the sensor 116 for detecting a parameter indicative of a currentsoil depth 118. In such embodiments, the system 100 may include a userinterface 130 that is configured to receive an input from an operator ofthe work vehicle 10, such as an input associated with the current soildepth. As such, the user interface 130 may include one or more inputdevices (not shown), such as touchscreens, keypads, touchpads, knobs,buttons, sliders, switches, mice, microphones, and/or the like, whichare configured to receive user inputs from the operator. In addition,some embodiments of the user interface 130 may include one or morefeedback devices (not shown), such as display screens, speakers, warninglights, and/or the like, which are configured to communicate thefeedback, such as feedback from the controller 124, to the operator ofthe work vehicle 10. However, in alternative embodiments, the userinterface 130 may have any suitable configuration. Furthermore, itshould be appreciated that, in some embodiments, the system 100 mayinclude both the sensor 116 and the user interface 130.

Referring now to FIGS. 2 and 3, the controller 124 may be configured tocontrol an operation of the grading implement 26 of the work vehicle 10such that the grading implement 26 removes a layer of soil from acurrent soil surface 120 as the work vehicle 10 is moved in the forwarddirection 42. Specifically, in several embodiments, the controller 124may be communicatively coupled to the various components of the workvehicle 10 and/or the system 100, such as the PRVs 102, 110. In thisregard, as the work vehicle 10 is moved in the forward direction 42, thecontroller 104 may be configured to control the depth and/or angle ofthe grading implement 26 such that the grading implement 26 removes alayer of soil of a desired thickness from the current soil surface 120.For example, in one embodiment, the controller 124 may be configured totransmit suitable control signals (e.g., as indicated by dashed lines132, 134 in FIGS. 2, 3, 5, and 6) to the PRVs 102, 110 such that PRVs102, 110 regulate the volume of fluid within the chambers 58, 60, 74, 76of the actuators 38, 40 so as to position the grading implement 26 atthe desired angle relative to the arms 34, 26 and/or at the desireddepth relative to the chassis 24. The grading implement 26 is shown inFIGS. 2 and 3 as removing a layer of soil from the initial ungraded soilsurface 122, which, in the instance shown, corresponds to the currentsoil surface 120. It should be appreciated that the controller 124 maybe configured to control the grading implement 26 while the work vehicle10 is moved over the current soil surface 120 in the forward direction42 several times.

In several embodiments, the controller 124 may be configured to controlthe grading implement 26 to remove soil from the current soil surface120 based on a selected offset soil depth (such as a first offset soildepth 136 or a second offset soil depth 138). In general, the gradingimplement 26 may be used to remove soil from the current soil surface120 while the work vehicle 10 is moved in the forward direction 42 untilthe current soil surface 120 is at the offset soil depth 136, 138. Asshown, the offset soil depth 136, 138 differs from a desired final soildepth 140 of a final graded soil surface 142. As used herein, the finalgraded soil surface 142 refers to soil surface after all gradingoperations, such as grading operations in accordance with method 200described below with reference to FIG. 7, have been completed. In theillustrated embodiment, the first offset soil depth 136 is less than thefinal soil depth 140. That is, an offset soil surface 144 at the firstoffset soil depth 136 is shallower relative to the initial ungraded soilsurface 122 than the final graded soil surface 142. Conversely, thesecond offset soil depth 138 is greater than the final soil depth 140.That is, an offset soil surface 146 at the second offset soil depth 138is deeper relative to the initial ungraded soil surface 122 than thefinal graded soil surface 142.

The system 100 may be configured to determine when the current soilsurface 120 is at the selected or desired offset soil depth 136, 138.Specifically, as shown in FIG. 2, in one embodiment, controller 124 maybe communicatively coupled to the sensor 116 via a wired or wirelessconnection to allow measurement signals (e.g., indicated by dashed lines148 in FIGS. 2, 5, and 6) to be transmitted from the sensor 116 to thecontroller 124. The controller 124 may then be configured monitor thecurrent soil depth 118 of the current soil surface 120 relative to theinitial ungraded soil surface 122 based on the measurement signals 148received from the sensor 116. For instance, the controller 124 mayinclude a look-up table or suitable mathematical formula stored withinits memory 128 that correlates the sensor measurements to the currentsoil depth 118 of the current soil surface 120. In this regard, thecontroller 124 may be configured to compare the current soil depth 118to the selected offset soil depth 136, 138 to determine when the currentsoil depth 118 is the same as the offset soil depth 136, 138. In oneembodiment, the controller 124 may be configured to notify the operatorof the work vehicle 10 when the current soil surface 120 is at theselected offset soil depth 136, 138, such as via a visual and/or anaudible notification through the user interface 130.

As indicated above, the embodiment of the system 100 shown in FIG. 3does not include the sensor 116. In such embodiment, the controller 124may be communicatively coupled to the user interface 130 via a wired orwireless connection to allow user input signals (e.g., indicated bydashed line 150 in FIG. 3) to be transmitted from the user interface 130to the controller 124. As such, the controller 124 may configured toreceive a notification from the operator of the work vehicle 10 when thecurrent soil surface 120 is at the selected offset soil depth 136, 138.

Referring now to FIG. 4, the controller 124 may be configured to controlthe grading implement 26 to remove soil from the current soil surface120 while the work vehicle 10 is moved in the forward direction 42 basedon a soil topography map 152. In certain instances, the selected offsetsoil depth 136, 138 may vary with geographical position. As such, thesoil topography map 152 may correlate the offset soil depth 136, 138 toa geographical position or location. In this regard, the controller 124may be configured to control the depth and/or angle of the gradingimplement 26 so as to form the offset surface 144, 146 having thedesired geographical topography. In one embodiment, the soil topographymap 152 may be stored in the memory device 128 of the controller 124.Furthermore, in some embodiments, the system 100 may include a GPSreceiver configured to monitor the geographical location of the workvehicle 10.

An example topography map 152 is shown in FIG. 4. Specifically, asshown, in one embodiment, the soil topography map 152 may show thegeographical correlation between the initial ungraded soil surface 122,the current soil surface 120, the final graded soil surface 142, and theoffset soil surface 146. In one embodiment, the controller 124 may beconfigured to update the soil topography map 152 based on changes in thecurrent soil surface 120. For example, the controller 124 may beconfigured to update the soil topography map 152 to show the currentsoil surface 120 as being closer to the first offset soil surface 136 asthe grading implement 26 removes successive layers of soil. It should beappreciated that the soil topography map 152 may only show thegeographical variation of some of the initial ungraded soil surface 122,the current soil surface 120, the final graded soil surface 142, and theoffset soil surface 146. Furthermore, the soil topography map 152 mayshow the geographical variation of additional parameters. In addition,although FIG. 4 illustrates the soil topography map 152 as a twodimensional map, the soil topography map 152 may be a three dimensionalmap.

Moreover, in several embodiments, the controller 124 may be configuredto store a plurality of preselected first offset soil depths 136 and/orsecond offset soil depth 138 (e.g., in the memory device(s) 128). Assuch, when the operator of the work vehicle 10 selects one of thepreselected offset depths 136, 138, the controller 124 may be configuredto control the position of the grading implement 26 so as to remove soilfrom the current soil surface 120 until the offset soil surface 144, 146is at the selected preselected offset depth 136, 138. For example, inone embodiment, each preselected offset depth 136 may correspond to adesired thickness of loose soil on the final graded soil surface 142 forplanting different types of grass (e.g., rye, fescue, etc.). However,the preselected offset depths 136, 138 may be based on any suitablecriteria. In some embodiments, the preselected offset depths 136, 138may be stored in derived from field data and imported into thecontroller 124. As such, in one embodiment, the preselected offsetdepths 136, 138 may be imported into the controller 124 as part of thesoil topography map 152 or when the soil topography map 152 is beingimported. Furthermore, the controller 124 may be configured to store apreselected offset depth 136, 138 provided by the operator duringoperation of the work vehicle 10 (e.g., the user interface 130). Suchoperator-provided preselected offset depth 136, 138 may be based on acommonly repeated offset depth 136, 138 that is not already storedwithin the controller 124.

Referring now to FIG. 5, when the selected offset soil depth correspondsto the first offset soil depth 136 and the current soil surface 120 isat such depth 136, the controller 124 may be configured to control theposition of the grading implement 26 so as to remove soil based on adepth differential 154 defined between the first offset soil depth 136and the final soil depth 140 to create the final graded soil surface 142as the work vehicle 10 is moved in the reverse direction 44.Specifically, in several embodiments, the controller 124 may beconfigured to control the depth and/or angle of the grading implement 26so as to remove a layer of soil from the offset soil surface 144corresponding to the depth differential 154 while the work vehicle 10 ismoved in the reverse direction 44. When formed by removing a layer ofsoil from the offset soil surface 144, the final graded soil surface 142may generally be of a hard, compacted nature that is suitable forconstructing buildings and/or roads thereon. Since the grading implement26 may generally be positioned forward of the track assemblies 30, 32,the grading implement 26 removes any grooves or indentations formed bythe track assemblies 30, 32 by forming the final graded soil surface 142while the work vehicle 10 is moved in the reverse direction 44.

Referring now to FIG. 6, when the selected offset soil depth correspondsto the second offset soil depth 138 and the current soil surface 120 isat such depth 138, the controller 124 may be configured to control theposition of the grading implement 26 so as to add soil based on a depthdifferential 156 defined between the second offset soil depth 138 andthe final soil depth 140 to create the final graded soil surface 142 asthe work vehicle 10 is moved in the reverse direction 44. Specifically,in several embodiments, the controller 124 may be configured to controlthe depth and/or angle of the grading implement 26 so as to add a layerof soil to the offset soil surface 146 corresponding to the depthdifferential 146 while the work vehicle 10 is moved in the reversedirection 44. For example, the grading implement 26 may spread a volumeof soil 158 onto the offset soil surface 146. When formed by adding alayer soil to the offset soil surface 146, the final graded soil surface142 may generally be of a loose, non-compacted nature that is suitablefor planting grass or other vegetation thereon. Since the gradingimplement 26 may generally be positioned forward of the track assemblies30, 32, the grading implement 26 removes any grooves or indentationsformed by the track assemblies 30, 32 by forming the final graded soilsurface 142 while the work vehicle 10 is moved in the reverse direction44.

Referring now to FIG. 7, a flow diagram of one embodiment of a method200 for creating a final graded soil surface having a final soil depthrelative to an initial ungraded soil surface is illustrated inaccordance with aspects of the present subject matter. In general, themethod 200 will be described herein with reference to the work vehicle10 and the system 100 described above with reference to FIGS. 1-6.However, it should be appreciated by those of ordinary skill in the artthat the disclosed method 200 may generally be utilized to create afinal graded soil surface with any work vehicle having any suitable workvehicle configuration. In addition, although FIG. 7 depicts stepsperformed in a particular order for purposes of illustration anddiscussion, the methods discussed herein are not limited to anyparticular order or arrangement. One skilled in the art, using thedisclosures provided herein, will appreciate that various steps of themethods disclosed herein can be omitted, rearranged, combined, and/oradapted in various ways without deviating from the scope of the presentdisclosure.

As shown in FIG. 7, at (202), the method 200 may include controlling anoperation of a grading implement of a work vehicle such that the gradingimplement removes a layer of soil from a current soil surface as thework vehicle is moved in a forward direction. For example, in severalembodiments, the controller 124 may be configured to control theoperation of the grading implement 26 of the work vehicle 10 such thatthe grading implement 26 removes a layer of soil from a current soilsurface 120 as the work vehicle 10 is moved in a forward direction 42.In one embodiment, the controller 124 may be configured to control thedepth and/or angle of the grading implement 26 so as to remove soil fromthe current soil surface 120 while the work vehicle 10 is moved in theforward direction 42 until the current soil surface 120 is at the offsetsoil depth 136, 138.

Additionally, at (204), the method 200 may include receiving an inputindicative of the current soil surface being at an offset soil depthrelative to the initial ungraded soil surface. For example, in oneembodiment, the controller 124 may be configure to monitor the currentsoil depth 118 of the current soil surface 120 based on the measurementsignals 148 received from the sensor 116 and determine when the currentsoil depth 118 is the same as the offset soil depth 136, 138. In anotherembodiment, the controller 124 may be configured to receive anotification from an operator of the work vehicle 10, such as via userthe input signals 150 transmitted from the user interface 130, when thecurrent soil surface 120 is at the offset soil depth 136, 138.

Moreover, as shown in FIG. 7, at (206), the method 200 may includeadjusting a position of the grading implement so as to add or removesoil based on a depth differential defined between the offset soil depthand the final soil depth to create the final graded soil surface as thework vehicle is moved in the reverse direction when the current soilsurface is at the offset soil depth. For example, when the current soilsurface 120 is at the first offset soil depth 136, the controller 124may be configured to adjust the position of the grading implement 26 toremove soil to the offset soil surface 144 based on the depthdifferential 154 defined between the first offset soil depth 136 and thefinal soil depth 140 so as to create the final graded soil surface 142as the work vehicle 10 is moved in the reverse direction 44. Conversely,when the current soil surface 120 is at the second offset soil depth138, the controller 124 may be configured to adjust the position of thegrading implement 26 to add soil to the second offset soil surface 146based on a depth differential 156 defined between the second offset soildepth 138 and the final soil depth 140 to create the final graded soilsurface 142 as the work vehicle 10 is moved in the reverse direction 44.

This written description uses examples to disclose the technology,including the best mode, and also to enable any person skilled in theart to practice the technology, including making and using any devicesor systems and performing any incorporated methods. The patentable scopeof the technology is defined by the claims, and may include otherexamples that occur to those skilled in the art. Such other examples areintended to be within the scope of the claims if they include structuralelements that do not differ from the literal language of the claims, orif they include equivalent structural elements with insubstantialdifferences from the literal language of the claims.

What is claimed is:
 1. A method for creating a final graded soil surfacehaving a final soil depth relative to an initial ungraded soil surface,the method comprising: controlling, with a computing device, anoperation of a grading implement of a work vehicle such that the gradingimplement removes a layer of soil from a current soil surface as thework vehicle is moved in a forward direction, the work vehicle extendinglongitudinally between a forward end and an aft end, the gradingimplement being located at the forward end of the work vehicle, thegrading implement traversing the current soil surface prior to the aftend of the work vehicle when work vehicle is moved in the forwarddirection, the aft end of the work vehicle traversing the current soilsurface prior to the grading implement when work vehicle is moved in areverse direction; receiving, with the computing device, an inputindicative of the current soil surface being at an offset soil depthrelative to the initial ungraded soil surface, the offset soil depthdiffering from the final soil depth; and when the current soil surfaceis at the offset soil depth, adjusting, with the computing device, aposition of the grading implement so as to add or remove soil based on adepth differential defined between the offset soil depth and the finalsoil depth to create the final graded soil surface as the work vehicleis moved in the reverse direction.
 2. The method of claim 1, furthercomprising: controlling, with the computing device, a depth of thegrading implement or an angle of the grading implement to add soil tocreate the final graded soil surface when the offset soil depth isgreater than the final soil depth.
 3. The method of claim 2, furthercomprising: controlling, with the computing device, the depth of thegrading implement or the angle of the grading implement based on aparameter associated with soil settlement when adding soil to create thefinal graded soil surface.
 4. The method of claim 1, further comprising:controlling, with the computing device, a depth of the grading implementor an angle of the grading implement to remove soil to create the finalgraded soil surface when the offset soil depth is less than the finalsoil depth.
 5. The method of claim 1, further comprising: controlling,with the computing device, the grading implement to remove soil from thecurrent soil surface based on the offset soil depth while the workvehicle is moving in the forward direction until the current soilsurface is at the offset soil depth.
 6. The method of claim 1, furthercomprising: controlling, with the computing device, the gradingimplement to remove soil from the current soil surface based on a soiltopography map correlating the offset soil depth to a geographicalposition while the work vehicle is moving in the forward direction untilthe current soil surface is at the offset soil depth.
 7. The method ofclaim 1, further comprising: receiving, with the computing device, anotification from an operator of the work vehicle when the current soilsurface is at the offset soil depth.
 8. The method of claim 1, furthercomprising: monitoring, with the computing device, a current soil depthof the current soil surface based on measurement signals received from asensor; and determining, with the computing device, when the currentsoil depth is the same as the offset soil depth.
 9. The method of claim8, further comprising: notifying, with the computing device, an operatorof the work vehicle when the current soil surface is at the offset soildepth.
 10. The method of claim 8, further comprising: updating, with thecomputing device, a soil topography map based on changes in the currentsoil depth.
 11. A system for creating a final graded soil surface havinga final soil depth relative to an initial ungraded soil surface, thesystem comprising: a work vehicle extending longitudinally between aforward end and an aft end, the work vehicle including a gradingimplement positioned at the forward end of the work vehicle, the workvehicle configured to be moved in both a forward direction and a reversedirection, the grading implement traversing a current soil surface priorto the aft end of the work vehicle when the work vehicle moves in theforward direction, the aft end of the work vehicle traversing thecurrent soil surface prior to the grading implement when the workvehicle moves in the reverse direction; and a controller communicativelycoupled to the work vehicle, the controller being configured to positionthe grading implement at an offset soil depth relative to the initialungraded soil surface such that the current soil surface is graded tothe offset soil depth as the work vehicle is moved in the forwarddirection across the soil surface, the offset soil depth differing fromthe final soil depth, wherein, when the current soil surface is at theoffset soil depth, the controller is configured to adjust the positionof the grading implement so as to add or remove soil based on a depthdifferential defined between the offset soil depth and the final soildepth to create the final graded soil surface as the work vehicle ismoved in the reverse direction across the soil surface.
 12. The systemof claim 11, wherein the controller is further configured to control adepth of the grading implement or an angle of the grading implement toadd soil to create the final graded soil surface when the offset soildepth is greater than the final soil depth.
 13. The system of claim 12,wherein the controller is further configured to control the depth of thegrading implement or the angle of the grading implement based on aparameter associated with soil settlement when adding soil to create thefinal graded soil surface.
 14. The system of claim 11, wherein thecontroller is further configured to control a depth of the gradingimplement or an angle of the grading implement to remove soil to createthe final graded soil surface when the offset soil depth is less thanthe final soil depth.
 15. The system of claim 11, wherein the controlleris further configured to control the grading implement to remove soilfrom the current soil surface based on the offset soil depth while thework vehicle is moving in the forward direction until the current soilsurface is at the offset soil depth.
 16. The system of claim 11, whereinthe controller is further configured to control the grading implement toremove soil from the current soil surface based on a soil topography mapcorrelating the offset soil depth to a geographical position while thework vehicle is moving in the forward direction until the current soilsurface is at the offset soil depth.
 17. The system of claim 11, whereinthe controller is further configured to receive a notification from anoperator of the work vehicle when the current soil surface is at theoffset soil depth.
 18. The system of claim 11, wherein the controller isfurther configured to monitor a current soil depth of the current soilsurface based on measurement signals received from a sensor anddetermine when the current soil depth is the same as the offset soildepth.
 19. The system of claim 18, wherein the controller is furtherconfigured to notify an operator of the work vehicle when the currentsoil surface is at the offset soil depth.
 20. The system of claim 18,wherein the controller is further configured to update a soil topographymap based on changes in the current soil depth.